/*******************************************************************************
 * ClubElek Robot motion control software for Eurobot 2007
 * Copyright (C) 2006-2007 ClubElek
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *******************************************************************************/
//! \file robot_slippage.h
//! \author Julien Rouviere <gmail address : julien.rouviere@...>
//! \author ClubElek <http://clubelek.insa-lyon.fr>
// svn :
// $LastChangedBy$
// $LastChangedDate$
/******************************************************************************/

#ifndef _ROBOT_SLIPPAGE_H_
#define _ROBOT_SLIPPAGE_H_

#include "global.h"

//! Initialise module
void slippage_Init(void);

//! Update current slippage value for a motor
//! \param motor Motor that will be updated (should be LEFT_MOTOR or RIGHT_MOTOR)
//! \param dWheel displacement value of the wheel (motor encoder)
//! \param dRobot displacement value of the robot (wheel encoder / mouse sensor)
void slippage_Update(int motor, int32 dWheel, int32 dRobot);

#endif//_ROBOT_SLIPPAGE_H_
